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Functions
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Functions

double iCub::ctrl::dot (const yarp::sig::Matrix &A, int colA, const yarp::sig::Matrix &B, int colB)
 
double iCub::ctrl::norm2 (const yarp::sig::Matrix &M, int col)
 
double iCub::ctrl::norm (const yarp::sig::Matrix &M, int col)
 
yarp::sig::Vector iCub::ctrl::cross (const yarp::sig::Matrix &A, int colA, const yarp::sig::Matrix &B, int colB)
 
yarp::sig::Vector iCub::ctrl::Dcross (const yarp::sig::Vector &a, const yarp::sig::Vector &Da, const yarp::sig::Vector &b, const yarp::sig::Vector &Db)
 
yarp::sig::Vector iCub::ctrl::Dcross (const yarp::sig::Matrix &A, const yarp::sig::Matrix &DA, int colA, const yarp::sig::Matrix &B, const yarp::sig::Matrix &DB, int colB)
 

Detailed Description

Collection of mathematical functions.

Author
Ugo Pattacini, Serena Ivaldi, Francesco Nori

Copyright (C) 2010 RobotCub Consortium

CopyPolicy: Released under the terms of the GNU GPL v2.0.

Function Documentation

◆ cross()

yarp::sig::Vector iCub::ctrl::cross ( const yarp::sig::Matrix &  A,
int  colA,
const yarp::sig::Matrix &  B,
int  colB 
)

Returns the cross product between two vectors given in the form: matrix(:,col).

Parameters
Ais the first input vector given as a=A(:,colA).
colAis the column for the first vector.
Bis the second input vector given as b=B(:,colB).
colBis the column for the second vector.
Returns
axb.

◆ Dcross() [1/2]

yarp::sig::Vector iCub::ctrl::Dcross ( const yarp::sig::Matrix &  A,
const yarp::sig::Matrix &  DA,
int  colA,
const yarp::sig::Matrix &  B,
const yarp::sig::Matrix &  DB,
int  colB 
)

Returns the derivative of cross product between two vectors given in the form: matrix(:,col).

Parameters
Ais the first input vector given as a=A(:,colA).
DAis the derivative of first input vector.
colAis the column for the first vector.
Bis the second input vector given as b=B(:,colB).
DBis the derivative of second input vector.
colBis the column for the second vector.
Returns
D(axb).

◆ Dcross() [2/2]

yarp::sig::Vector iCub::ctrl::Dcross ( const yarp::sig::Vector &  a,
const yarp::sig::Vector &  Da,
const yarp::sig::Vector &  b,
const yarp::sig::Vector &  Db 
)

Returns the derivatice of cross product between two vectors.

Parameters
ais the first input vector.
Dais the derivative of first input vector.
bis the second input vector.
Dbis the derivative of second input vector.
Returns
D(axb).

◆ dot()

double iCub::ctrl::dot ( const yarp::sig::Matrix &  A,
int  colA,
const yarp::sig::Matrix &  B,
int  colB 
)

Returns the dot product between two vectors given in the form: matrix(:,col).

Parameters
Ais the first input vector given as a=A(:,colA).
colAis the column for the first vector.
Bis the second input vector given as b=B(:,colB).
colBis the column for the second vector.
Returns
<a,b>.

◆ norm()

double iCub::ctrl::norm ( const yarp::sig::Matrix &  M,
int  col 
)

Returns the norm of the vector given in the form: matrix(:,col).

Parameters
Mis the input vector given as m=M(:,col).
colis the column for the vector.
Returns
||v||.

◆ norm2()

double iCub::ctrl::norm2 ( const yarp::sig::Matrix &  M,
int  col 
)
inline

Returns the squared norm of the vector given in the form: matrix(:,col).

Parameters
Mis the input vector given as m=M(:,col).
colis the column for the vector.
Returns
||v||^2.

Definition at line 91 of file math.h.